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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
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<a href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action-members.html">List of all members</a>  </div>
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<div class="title">robot_interfaces::NJointRobotTypes&lt; N &gt;::Action Struct Reference</div>  </div>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:aeb7fbd93adcc0140b5db42298211fe9d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#aeb7fbd93adcc0140b5db42298211fe9d">Action</a> (Vector <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad19a93b677bdc60e655071743acf160e">torque</a>=Vector::Zero(), Vector <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad0d8104b1e521c7d0a316d093155e3a8">position</a>=<a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>(), Vector <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#a16eb24df6bdbc10c8ce08c0621723b92">position_kp</a>=<a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>(), Vector <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#a3690aa864884fb51fb411d26eeea3fd4">position_kd</a>=<a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>())</td></tr>
<tr class="memdesc:aeb7fbd93adcc0140b5db42298211fe9d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create action with desired torque and (optional) position.  <a href="#aeb7fbd93adcc0140b5db42298211fe9d">More...</a><br /></td></tr>
<tr class="separator:aeb7fbd93adcc0140b5db42298211fe9d"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:ae5aae444c808728af59a8a5b27035293"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ae5aae444c808728af59a8a5b27035293">Torque</a> (Vector <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad19a93b677bdc60e655071743acf160e">torque</a>)</td></tr>
<tr class="memdesc:ae5aae444c808728af59a8a5b27035293"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create an action that only contains a torque command.  <a href="#ae5aae444c808728af59a8a5b27035293">More...</a><br /></td></tr>
<tr class="separator:ae5aae444c808728af59a8a5b27035293"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad60ea89acc73e544634b47a74797afd1"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad60ea89acc73e544634b47a74797afd1">Position</a> (Vector <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad0d8104b1e521c7d0a316d093155e3a8">position</a>, Vector kp=<a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>(), Vector kd=<a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>())</td></tr>
<tr class="memdesc:ad60ea89acc73e544634b47a74797afd1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create an action that only contains a position command.  <a href="#ad60ea89acc73e544634b47a74797afd1">More...</a><br /></td></tr>
<tr class="separator:ad60ea89acc73e544634b47a74797afd1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aca6f329803476479e618e3d678b4148a"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#aca6f329803476479e618e3d678b4148a">TorqueAndPosition</a> (Vector <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad19a93b677bdc60e655071743acf160e">torque</a>=Vector::Zero(), Vector <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad0d8104b1e521c7d0a316d093155e3a8">position</a>=<a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>(), Vector <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#a16eb24df6bdbc10c8ce08c0621723b92">position_kp</a>=<a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>(), Vector <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#a3690aa864884fb51fb411d26eeea3fd4">position_kd</a>=<a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>())</td></tr>
<tr class="memdesc:aca6f329803476479e618e3d678b4148a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create an action with both torque and position commands.  <a href="#aca6f329803476479e618e3d678b4148a">More...</a><br /></td></tr>
<tr class="separator:aca6f329803476479e618e3d678b4148a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad6fa1cd952afc4f02fcabc4221802b47"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad6fa1cd952afc4f02fcabc4221802b47">Zero</a> ()</td></tr>
<tr class="memdesc:ad6fa1cd952afc4f02fcabc4221802b47"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a zero-torque action.  <a href="#ad6fa1cd952afc4f02fcabc4221802b47">More...</a><br /></td></tr>
<tr class="separator:ad6fa1cd952afc4f02fcabc4221802b47"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab963d5faa78618bdaae53dc70ca936ae"><td class="memItemLeft" align="right" valign="top">static Vector&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a> ()</td></tr>
<tr class="memdesc:ab963d5faa78618bdaae53dc70ca936ae"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a NaN-Vector.  <a href="#ab963d5faa78618bdaae53dc70ca936ae">More...</a><br /></td></tr>
<tr class="separator:ab963d5faa78618bdaae53dc70ca936ae"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:ad19a93b677bdc60e655071743acf160e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad19a93b677bdc60e655071743acf160e"></a>
Vector&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad19a93b677bdc60e655071743acf160e">torque</a></td></tr>
<tr class="memdesc:ad19a93b677bdc60e655071743acf160e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Desired torque command (in addition to position controller). <br /></td></tr>
<tr class="separator:ad19a93b677bdc60e655071743acf160e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad0d8104b1e521c7d0a316d093155e3a8"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad0d8104b1e521c7d0a316d093155e3a8"></a>
Vector&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad0d8104b1e521c7d0a316d093155e3a8">position</a></td></tr>
<tr class="memdesc:ad0d8104b1e521c7d0a316d093155e3a8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Desired position. Set to NaN to disable position controller. <br /></td></tr>
<tr class="separator:ad0d8104b1e521c7d0a316d093155e3a8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a16eb24df6bdbc10c8ce08c0621723b92"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a16eb24df6bdbc10c8ce08c0621723b92"></a>
Vector&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#a16eb24df6bdbc10c8ce08c0621723b92">position_kp</a></td></tr>
<tr class="memdesc:a16eb24df6bdbc10c8ce08c0621723b92"><td class="mdescLeft">&#160;</td><td class="mdescRight">P-gain for position controller. If NaN, default is used. <br /></td></tr>
<tr class="separator:a16eb24df6bdbc10c8ce08c0621723b92"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3690aa864884fb51fb411d26eeea3fd4"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3690aa864884fb51fb411d26eeea3fd4"></a>
Vector&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#a3690aa864884fb51fb411d26eeea3fd4">position_kd</a></td></tr>
<tr class="memdesc:a3690aa864884fb51fb411d26eeea3fd4"><td class="mdescLeft">&#160;</td><td class="mdescRight">D-gain for position controller. If NaN, default is used. <br /></td></tr>
<tr class="separator:a3690aa864884fb51fb411d26eeea3fd4"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="aeb7fbd93adcc0140b5db42298211fe9d"></a>
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template&lt;size_t N&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes.html">robot_interfaces::NJointRobotTypes</a>&lt; N &gt;::Action::Action </td>
          <td>(</td>
          <td class="paramtype">Vector&#160;</td>
          <td class="paramname"><em>torque</em> = <code>Vector::Zero()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Vector&#160;</td>
          <td class="paramname"><em>position</em> = <code><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Vector&#160;</td>
          <td class="paramname"><em>position_kp</em> = <code><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Vector&#160;</td>
          <td class="paramname"><em>position_kd</em> = <code><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>()</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Create action with desired torque and (optional) position. </p>
<p>The resulting torque command sent to the robot is </p><pre class="fragment">sent_torque = torque + PD(position)
</pre><p>To disable the position controller, set the target position to NaN. The controller is executed joint-wise, so it is possible to run it only for some joints by setting a target position for these joints and setting the others to NaN.</p>
<p>The specified torque is always added to the result of the position controller, so if you only want to run the position controller, make sure to set <code>torque</code> to zero for all joints.</p>
<p>For more explicit code, the static factory methods <code>Troque</code>, <code>Position</code>, <code>TorqueAndPosition</code> and <code>Zero</code> should be used instead directly creating actions through this constuctor.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">torque</td><td>Desired torque. </td></tr>
    <tr><td class="paramname">position</td><td>Desired position. Set values to NaN to disable position controller for the corresponding joints </td></tr>
    <tr><td class="paramname">position_kp</td><td>P-gains for the position controller. Set to NaN to use default values. </td></tr>
    <tr><td class="paramname">position_kd</td><td>D-gains for the position controller. Set to NaN to use default values. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a class="anchor" id="ab963d5faa78618bdaae53dc70ca936ae"></a>
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          <td class="memname">static Vector <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes.html">robot_interfaces::NJointRobotTypes</a>&lt; N &gt;::Action::None </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
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<p>Create a NaN-Vector. </p>
<p>Helper function to set defaults for position.</p>
<dl class="section return"><dt>Returns</dt><dd>Vector with all elements set to NaN. </dd></dl>

</div>
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<a class="anchor" id="ad60ea89acc73e544634b47a74797afd1"></a>
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template&lt;size_t N&gt; </div>
<table class="mlabels">
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      <table class="memname">
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          <td class="memname">static <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a> <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes.html">robot_interfaces::NJointRobotTypes</a>&lt; N &gt;::Action::Position </td>
          <td>(</td>
          <td class="paramtype">Vector&#160;</td>
          <td class="paramname"><em>position</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Vector&#160;</td>
          <td class="paramname"><em>kp</em> = <code><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Vector&#160;</td>
          <td class="paramname"><em>kd</em> = <code><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>()</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Create an action that only contains a position command. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">position</td><td>Desired position. </td></tr>
    <tr><td class="paramname">kp</td><td>P-gain for position controller. If not set, default is used. Set to NaN for specific joints to use default for this joint. </td></tr>
    <tr><td class="paramname">kd</td><td>D-gain for position controller. If not set, default is used. Set to NaN for specific joints to use default for this joint.</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Pure "position action". </dd></dl>

</div>
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          <td class="memname">static <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a> <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes.html">robot_interfaces::NJointRobotTypes</a>&lt; N &gt;::Action::Torque </td>
          <td>(</td>
          <td class="paramtype">Vector&#160;</td>
          <td class="paramname"><em>torque</em></td><td>)</td>
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<p>Create an action that only contains a torque command. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">torque</td><td>Desired torque.</td></tr>
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  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Pure "torque action". </dd></dl>

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          <td class="memname">static <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a> <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes.html">robot_interfaces::NJointRobotTypes</a>&lt; N &gt;::Action::TorqueAndPosition </td>
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          <td class="paramtype">Vector&#160;</td>
          <td class="paramname"><em>torque</em> = <code>Vector::Zero()</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Vector&#160;</td>
          <td class="paramname"><em>position</em> = <code><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>()</code>, </td>
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          <td class="paramtype">Vector&#160;</td>
          <td class="paramname"><em>position_kp</em> = <code><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>()</code>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">Vector&#160;</td>
          <td class="paramname"><em>position_kd</em> = <code><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>()</code>&#160;</td>
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<p>Create an action with both torque and position commands. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">torque</td><td>Desired torque. </td></tr>
    <tr><td class="paramname">position</td><td>Desired position. Set to NaN for specific joints to disable position control for this joint. </td></tr>
    <tr><td class="paramname">kp</td><td>P-gain for position controller. If not set, default is used. Set to NaN for specific joints to use default for this joint. </td></tr>
    <tr><td class="paramname">kd</td><td>D-gain for position controller. If not set, default is used. Set to NaN for specific joints to use default for this joint.</td></tr>
  </table>
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<dl class="section return"><dt>Returns</dt><dd><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a> with both torque and position commands. </dd></dl>

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          <td class="memname">static <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a> <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes.html">robot_interfaces::NJointRobotTypes</a>&lt; N &gt;::Action::Zero </td>
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<p>Create a zero-torque action. </p>
<dl class="section return"><dt>Returns</dt><dd>Zero-torque action with position control disabled. </dd></dl>

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<hr/>The documentation for this struct was generated from the following file:<ul>
<li>/workspace/software/workspace/src/catkin/robots/robot_interfaces/include/robot_interfaces/<a class="el" href="n__joint__robot__types_8hpp_source.html">n_joint_robot_types.hpp</a></li>
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